# PositionControllerStatus (UORB message)



[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/PositionControllerStatus.msg)

```c
uint64 timestamp        # time since system start (microseconds)

float32 nav_roll        # Roll setpoint [rad]
float32 nav_pitch       # Pitch setpoint [rad]
float32 nav_bearing         # Bearing angle[rad]
float32 target_bearing      # Bearing angle from aircraft to current target [rad]
float32 xtrack_error        # Signed track error [m]
float32 wp_dist         # Distance to active (next) waypoint [m]
float32 acceptance_radius   # Current horizontal acceptance radius [m]
float32 yaw_acceptance      # Yaw acceptance error[rad]
float32 altitude_acceptance # Current vertical acceptance error [m]
uint8 type          # Current (applied) position setpoint type (see PositionSetpoint.msg)

```
